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[ros2] Adding GPS plugin #982

Merged
merged 3 commits into from
Aug 21, 2019
Merged

[ros2] Adding GPS plugin #982

merged 3 commits into from
Aug 21, 2019

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alexfneves
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I created the GPS sensor plugin that outputs a NavSatFix message in ros2. I used the IMU plugin as reference for the implementation.

I also added a test. First the box position acquired, then its position is set on the world (positive x, y and z), then check if the latitude, longitude and altitude are positive (positive East, North and Up).

Please take a look if it seems fine.

I have some notes:

  1. P.S. Gazebo seems to be outputting ENU (the default world orientation) wrong. My take is that the C++ code shouldn't change, what should be fixed is the Gazebo code. I added a 180 deg on the heading on the .world file to make it output what it should. Later I'll take a look at the gazebo code to check the reason for this behavior.

  2. The SDF has <position_sensing> and <velocity_sensing> tags, but I only implemented the <position_sensing> because the GpsSensor in Gazebo API for Gazebo 9.0 doesn't have the functions VelocityEast(), VelocityNorth() and VelocityUp(), which are available in Gazebo 9.1 and forth.

@chapulina chapulina added the ros2 label Aug 19, 2019
@chapulina chapulina self-requested a review August 19, 2019 22:15
@alexfneves
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The test that is failing is the GazeboRosAckermannDriveTest Publishing, which is not related to the GPS.
http://build.ros2.org/job/Dpr__gazebo_ros_pkgs__ubuntu_bionic_amd64/105/testReport/

chapulina
chapulina suggested changes Aug 21, 2019
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Thanks for the PR! It's looking good to me! Besides the nitpick comments, all I'd like to ask is that you create a demo world in the gazebo_plugins/worlds folder. It can be similar to the test world, but with a few instructions on the top. Thanks!

gazebo_plugins/include/gazebo_plugins/gazebo_ros_gps_sensor.hpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_gps_sensor.cpp Outdated Show resolved Hide resolved
gazebo_plugins/test/worlds/gazebo_ros_gps_sensor.world Outdated
<spherical_coordinates>
<!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU as the
default configurations, it's outputting (-E)(-N)U, therefore we rotate the default frame
180 so that it would go back to 180 -->
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Mind adding a link to this issue here so we don't lose track of it?

https://bitbucket.org/osrf/gazebo/issues/2022/

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I didn't search about it before. Good to know there is already an issue on this!

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Sorry @chapulina, at the time I was making the changes I didn't understand that you wanted me to add this link https://bitbucket.org/osrf/gazebo/issues/2022/ on the .world comment. Now that it has been merged into master, maybe you can add it directly.

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No worries, it can be added later 😉

chapulina
chapulina approved these changes Aug 21, 2019
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Thanks for iterating, LGTM! 👍

@chapulina chapulina merged commit 14310b0 into ros-simulation:dashing Aug 21, 2019
@alexfneves alexfneves deleted the dashing-gps-sensor branch August 22, 2019 00:22
jacobperron pushed a commit to jacobperron/gazebo_ros_pkgs that referenced this pull request Sep 10, 2019
@alexfneves @jacobperron
[ros2] Adding GPS plugin (ros-simulation#982)
2b1b6e4 
* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections
j-rivero pushed a commit that referenced this pull request Oct 3, 2019
@alexfneves @j-rivero
[ros2] Adding GPS plugin (#982)
516ab99 
* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections
antarikshnarain added a commit to antarikshnarain/gazebo_ros_pkgs that referenced this pull request Jul 7, 2020
@antarikshnarain @shiveshkhaitan
@chapulina @Karsten1987 @alexfneves @jacobperron @jnoyola @j-rivero @dirk-thomas @scpeters @seanyen @scgroot
Update from Original (#1)
348df12 
* [ros2] Port elevator to ROS2

* [ros2] Fix test for diff drive (ros-simulation#951)

* use c_str() (ros-simulation#950) (ros-simulation#954)

Signed-off-by: Karsten Knese <[email protected]>

* [ros2] Port projector to ROS2 (ros-simulation#956)

* [ros2] Port projector to ROS2

* fix small typo

* [ros2] Port planar move to ROS2 (ros-simulation#958)

* [ros2] Port planar move to ROS2

* Add test for pose conversion

* [ros2] Add ackermann drive plugin (ros-simulation#947)

* [ros2] Add ackermann drive plugin

* Minor fixes

Use gazebo database model

* Update example usage

* Fix TF for demo

* changelog

* 3.3.2

* [ros2] Port harness to ROS2 (ros-simulation#944)

* [ros2] Port hand of god to ROS2 (ros-simulation#957)

* [ros2] Port hand of god to ROS2

* Minor fixes

* [ros2] Port model states to ROS2 (ros-simulation#968)

* [ros2] Port model states to ROS2

* remove unported code

Signed-off-by: Louise Poubel <[email protected]>

* Add Gazebo builtin plugins to LD_LIBRARY_PATH (ros-simulation#974)

* Add Gazebo builtin plugins to LD_LIBRARY_PATH

Signed-off-by: Louise Poubel <[email protected]>

* cross-platform

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Fix tests on Dashing (ros-simulation#953)

* [ros2] Fix camera triggered test on Dashing

backport remove noe fix and re-enable distortion tests

* improve robustness of joint state pub test

Signed-off-by: Louise Poubel <[email protected]>

* Fix for multiple video plugins (ros-simulation#898) (ros-simulation#937)

* Fix for multiple video plugins (ros-simulation#898)

* Fix crash on shutdown

* Fix gazebo node destructor

* [ros2] Port bumper sensor to ROS2 (ros-simulation#943)

* [ros2] Port bumper sensor to ROS2

* Add author name

* Minor fixes and add contact msg conversion

* Remove unused header includes

* [ros2] Port gazebo_ros_path plugin to ROS2 (ros-simulation#925)

* [ros2] Port gazebo_ros_path plugin

* Minor fixes

* Change plugin launch file to python script

* Fix for flake8 test

* set gazebo library dirs (ros-simulation#963)

Signed-off-by: Karsten Knese <[email protected]>

* [ros2] Port Link states to ROS2 (ros-simulation#969)

* [ros2] Port model states to ROS2

* [ros2] Port link states to ROS2

* Change usage of body -> link

* Remove link_states from .ros1_unported

* fix video test

Signed-off-by: chapulina <[email protected]>

* [ros2] Port joint pose trajectory to ROS2 (ros-simulation#955)

* [ros2] Port joint pose trajectory to ROS2

* Add conversion tests

Minor fixes

* [ros2] Port gazebo launch scripts to ROS2 (ros-simulation#962)

* [ros2] Port gazebo launch scripts to ROS2

* Add gdb and valgrind option

* Use shell command for extra gazebo args

* [ros2] Port vacuum gripper to ROS2 (ros-simulation#960)

* [ros2] Port vacuum gripper to ROS2

* Fix gripper forces

* Add option to set max_distance

Change SetForce -> Add Force

* [ros2] Port spawn model to ROS2 (ros-simulation#948)

* [ros2] Port spawn model to ROS2

* Delete .ros1_unported files

* Fixes and add demo

Change spawn_model to spawn_entity

* Rename demo launch and add checks for service

* Fix reading xml file from param and model states

* remove diplicate

Signed-off-by: Louise Poubel <[email protected]>

* Use gazebo launch file

* Change topic behaviour

* [ros2] Spawn <plugin> without <ros> (ros-simulation#983)

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Backport depth camera to dashing (ros-simulation#967)

* [ros2] Backport depth camera to dashing

* don't install header that will be removed

Signed-off-by: Louise Poubel <[email protected]>

* fix linting error

Signed-off-by: Louise Poubel <[email protected]>

* Address reviews on ros-simulation#868 (ros-simulation#972)

* [ros2] World plugin to get/set entity state services (ros-simulation#839)

remove status_message

* [ros2] Port time commands (pause / reset) (ros-simulation#866)

* [ros2] Migration of get/set world, model, joint, link, light properties

* Trying to pass CI test, try n1.

* clean up some linter warnings

* Requested changes in review, unfinished

* Fix uncrustify

* Address reviews

* more tests, joint types

Signed-off-by: Louise Poubel <[email protected]>

* Revert changes to GetModelProperties message

Document gazebo_ros_properties header

* Convert msgs pose to math pose and use it on SetCoG

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Adding GPS plugin (ros-simulation#982)

* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections

* [ros2] Adding option to select the frame where the force will be applied (ros-simulation#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <[email protected]>

* [backport] Backport multicamera to dashing (ros-simulation#984)

* [backport] Backport multicamera to dashing

* fix test - use correct world

Signed-off-by: Louise Poubel <[email protected]>

* Add maintainer (ros-simulation#985)

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Conditional launch includes (ros-simulation#979)

* [ros2] Conditional launch includes

Signed-off-by: Louise Poubel <[email protected]>

* remove unused import

Signed-off-by: Louise Poubel <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.3.3

* [ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) (ros-simulation#986)

* Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity)

Instead of waiting for a shutdown callback to be created in rclpy,
we can use the try/except to get the SIGINT signal, then delete the entity.

* Message formatting

Signed-off-by: Louise Poubel <[email protected]>

* linter 😅

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Remove ported / deprecated (ros-simulation#989)

Signed-off-by: Louise Poubel <[email protected]>

* Remove ROS-specific arguments before passing to argparse (ros-simulation#994)

This resolves argparse errors when trying to launch the spawn_entity script as a ROS node.

For example, a launch file like the following wouldn't work without this change:

    <launch>
      <arg name="model_urdf" default="$(find-pkg-share mymodels)/urdf/ball.urdf" />
      <node
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        name="spawner"
        args="-entity foo -file /path/to/my/model/foo.urdf" />
    </launch>

Signed-off-by: Jacob Perron <[email protected]>

* fix multi_camera_plugin on windows (ros-simulation#999)

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.3.4

* Update changelogs

* 3.4.0

* generate a .dsv file for the environment hook

* Update changelogs

* 3.4.1

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.4.2

* fix pathsep for windows (ros-simulation#1028)

* Image publishers use SensorDataQoSProfile (ros-simulation#1031)

All other sensor publishers were updated previously to use the same profile (ros-simulation#926).
I'm not sure if the image publishers were overlooked or the image_transport API didn't
support setting the QoS profile at the time.

Signed-off-by: Jacob Perron <[email protected]>

* [backport][ros2] make transient local reliable (ros-simulation#1033) (ros-simulation#1036)

* [ros2] make transient local reliable (ros-simulation#1033)

* make transient local reliable

Signed-off-by: Karsten Knese <[email protected]>

* fix master

Signed-off-by: Karsten Knese <[email protected]>

* add launch test

Signed-off-by: Karsten Knese <[email protected]>

* make it actual latched

Signed-off-by: Karsten Knese <[email protected]>

* alpha sort

Signed-off-by: Karsten Knese <[email protected]>

* add launch_test dependency

Signed-off-by: Karsten Knese <[email protected]>

* more dependencies

Signed-off-by: Karsten Knese <[email protected]>

* remove debug print

Signed-off-by: Karsten Knese <[email protected]>

* is_initialized -> ok

Signed-off-by: Karsten Knese <[email protected]>

* Update gazebo_ros/test/entity_spawner.test.py

Co-Authored-By: chapulina <[email protected]>

* use erase-remove idiom

Signed-off-by: Karsten Knese <[email protected]>

* use ReadyToTest()

Signed-off-by: Karsten Knese <[email protected]>

Co-authored-by: chapulina <[email protected]>

* Set timeout and call gzserver directly

Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: chapulina <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.4.3

* Measure IMU orientation with respect to world (ros-simulation#1058)

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior, users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <[email protected]>

* Measure IMU orientation with respect to world (dashing) (ros-simulation#1065)

Report the IMU orientation from the sensor plugin
with respect to the world frame.
This complies with convention documented in REP 145:
https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior,
users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <[email protected]>

* wait for service with variable timeout (ros-simulation#1090)

* wait for service with variable timeout

Signed-off-by: Karsten Knese <[email protected]>

Co-authored-by: chapulina <[email protected]>

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1102)

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1103)

* Prepare changelogs

* 3.3.5

* Prepare changelogs

* 3.4.4

* [eloquent] Fix Windows build. (ros-simulation#1077)

* Adding Windows bringup.

* Remove unported gazebo_ros_control (ros-simulation#1108)

Signed-off-by: Louise Poubel <[email protected]>

* use target include directories (ros-simulation#1040)

Signed-off-by: Karsten Knese <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

* Apply acceleration until both left and right reach targetspeed (ros-simulation#1009)

Co-authored-by: Louise Poubel <[email protected]>

* Fix all Foxy tests

Signed-off-by: Louise Poubel <[email protected]>

* uncrustifyyyyyy

Signed-off-by: Louise Poubel <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.5.0

Co-authored-by: Shivesh Khaitan <[email protected]>
Co-authored-by: chapulina <[email protected]>
Co-authored-by: Karsten Knese <[email protected]>
Co-authored-by: alexfneves <[email protected]>
Co-authored-by: Jacob Perron <[email protected]>
Co-authored-by: Jonathan Noyola <[email protected]>
Co-authored-by: Jose Luis Rivero <[email protected]>
Co-authored-by: Dirk Thomas <[email protected]>
Co-authored-by: Steven Peters <[email protected]>
Co-authored-by: Sean Yen <[email protected]>
Co-authored-by: scgroot <[email protected]>
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